88 lines
3.7 KiB
C++
88 lines
3.7 KiB
C++
/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: TKruse
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*********************************************************************/
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#ifndef ROBOT_FOOTPRINT_HELPER_H_
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#define ROBOT_FOOTPRINT_HELPER_H_
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#include <vector>
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#include <robot_costmap_2d/costmap_2d.h>
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#include <robot_geometry_msgs/Point.h>
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#include <Eigen/Core>
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#include <robot_base_local_planner/Position2DInt.h>
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namespace robot_base_local_planner {
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class FootprintHelper {
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public:
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FootprintHelper();
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virtual ~FootprintHelper();
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/**
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* @brief Used to get the cells that make up the footprint of the robot
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* @param x_i The x position of the robot
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* @param y_i The y position of the robot
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* @param theta_i The orientation of the robot
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* @param fill If true: returns all cells in the footprint of the robot. If false: returns only the cells that make up the outline of the footprint.
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* @return The cells that make up either the outline or entire footprint of the robot depending on fill
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*/
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std::vector<robot_base_local_planner::Position2DInt> getFootprintCells(
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Eigen::Vector3f pos,
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std::vector<robot_geometry_msgs::Point> footprint_spec,
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const robot_costmap_2d::Costmap2D&,
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bool fill);
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/**
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* @brief Use Bresenham's algorithm to trace a line between two points in a grid
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* @param x0 The x coordinate of the first point
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* @param x1 The x coordinate of the second point
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* @param y0 The y coordinate of the first point
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* @param y1 The y coordinate of the second point
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* @param pts Will be filled with the cells that lie on the line in the grid
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*/
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void getLineCells(int x0, int x1, int y0, int y1, std::vector<robot_base_local_planner::Position2DInt>& pts);
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/**
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* @brief Fill the outline of a polygon, in this case the robot footprint, in a grid
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* @param footprint The list of cells making up the footprint in the grid, will be modified to include all cells inside the footprint
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*/
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void getFillCells(std::vector<robot_base_local_planner::Position2DInt>& footprint);
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};
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} /* namespace robot_base_local_planner */
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#endif /* FOOTPRINT_HELPER_H_ */
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